Title :
Strict Global Lyapunov Functions for Mechanical Systems
Author :
Koditschek, Daniel E.
Author_Institution :
Center for Systems Science, Yale University, Department of Electrical Engineering
Abstract :
This paper presents a strict, global Lyapunov function for the class of dissipative mechanical systems defined on a configurtion space which admits a trivial tangent bundle.
Keywords :
Calculus; Control systems; Frequency domain analysis; Geometry; Lyapunov method; Mechanical systems; Nonlinear equations; Orbital robotics; Potential energy; Robot kinematics;
Conference_Titel :
American Control Conference, 1988
Conference_Location :
Atlanta, Ga, USA
